Global motion modeling for automotive image data

A processing system comprising:

• a memory comprising computer-executable instructions;
• one or more processors configured to execute the computer-executable instructions and cause the processing system to:
• receive a first image and a second image from a camera attached to a moving object;
• identify a pixel in the first image;
• determine, based on parameters associated with the camera, a vector representing a range of locations in which a real-world point corresponding to the pixel is likely to be found in the second image, wherein:
• the parameters associated with the camera comprise:
• a first parameter related to a location of the camera relative to a ground surface;
• a second parameter related to motion of the moving object;
• and
• a third parameter related to an orientation of the camera relative to the ground surface, and
• determining the vector is based on projecting a plane that is parallel to the ground surface onto the first image based on the location of the camera relative to the ground surface and the orientation of the camera relative to the ground surface, wherein the vector lies along the plane;
• and
• determine using the vector a location of the real-world point in the second image.

A non-transitory computer readable medium comprising instructions that, when executed by one or more processors of a computing system, cause the computing system to:

• receive a first image and a second image from a camera attached to a moving object;
• identify a pixel in the first image;
• determine, based on parameters associated with the camera, a vector representing a range of locations in which a real-world point corresponding to the pixel is likely to be found in the second image, wherein:
• the parameters associated with the camera comprise:
• a first parameter related to a location of the camera relative to a ground surface;
• a second parameter related to motion of the moving object;
• and
• a third parameter related to an orientation of the camera relative to the ground surface, and
• determining the vector is based on projecting a plane that is parallel to the ground surface onto the first image based on the location of the camera relative to the ground surface and the orientation of the camera relative to the ground surface, wherein the vector lies along the plane;
• and
• determine using the vector a location of the real-world point in the second image.

An apparatus comprising:

• means for receiving a first image and a second image from a camera attached to a moving object;
• means for identifying a pixel in the first image;
• means for determining, based on parameters associated with the camera, a vector representing a range of locations in which a real-world point corresponding to the pixel is likely to be found in the second image, wherein:
• the parameters associated with the camera comprise:
• a first parameter related to a location of the camera relative to a ground surface;
• a second parameter related to motion of the moving object;
• and
• a third parameter related to an orientation of the camera relative to the ground surface, and
• determining the vector is based on projecting a plane that is parallel to the ground surface onto the first image based on the location of the camera relative to the ground surface and the orientation of the camera relative to the ground surface, wherein the vector lies along the plane;
• and
• means for determining using the vector a location of the real-world point in the second image.